SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 220 * Raw log
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• Previous call tries 2 • 86.04 of 350.00 AH used of 24V (75.42% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -74.4 deg, depth -1.08 m • Intended pitch -16.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 31 s
• GPS2 time: 3 s • Transponder ping count: 2
• Time spent turning 0 s

Statistics * Plot
t(s) depth(m) w(cm/s) num pts t(s) GC phase pitch roll VBD pit rol VBD volts
ctl(cm) t(s) A pos(AD) rate t(s) A pos(AD) rate ctl(cc) t(s) A pos(AD) rate eff r e r e r e pitrollvbd flags
15 end surface: CONTROL_FINISHED_OK
15 begin dive
17 - - - 98 done -0.90 - - 170 - - - 2779 - -116.8 -77.05 - 3515 - - - - - - - - 14.66 13.02 14.65
100 - -3.6 2 117 roll -0.90 11.57 0.395 2593 209.4 1.95 0.093 3830 539.0 -116.8 - - 3513 - - - - - - - - 14.19 14.39 14.49
179 38.1 -28.7 14 186 done -0.50 0.47 0.239 2734 300.0 1.80 0.035 2729 -611.7 -116.8 - - 3517 - - - - - - - - 14.19 14.47 14.45
515 86.8 -9.2 29 521 roll -0.50 - - 2727 - 2.03 0.103 3828 541.4 -116.8 - - 3519 - - - - - - - - 14.76 14.39 14.76
752 100.6 -6.3 63 761 done -0.50 - - 2726 - 1.75 0.039 2775 -601.7 -116.8 - - 3521 - - - - - - - - 14.66 14.61 14.67
1103 122.9 -6.6 71 1111 roll -0.50 - - 2718 - 1.98 0.104 3820 527.8 -116.8 - - 3519 - - - - - - - - 14.83 14.41 14.83
1172 127.7 -6.7 81 1180 done -0.50 - - 2718 - 1.75 0.039 2764 -603.4 -116.8 - - 3519 - - - - - - - - 14.65 14.64 14.64
1495 149.5 -6.9 92 1502 roll -0.50 - - 2718 - 2.28 0.042 1394 -600.9 -116.8 - - 3517 - - - - - - - - 14.84 14.57 14.84
1571 155.2 -7.0 103 1580 done -0.58 - - 2709 - 2.42 0.066 2763 565.7 -116.8 - - 3517 - - - - - - - - 14.55 14.47 14.57
1887 179.5 -7.6 113 1894 roll -0.58 - - 2701 - 1.95 0.107 3833 548.7 -116.8 - - 3514 - - - - - - - - 14.85 14.44 14.85
1935 183.2 -7.7 120 1944 done -0.58 - - 2700 - 1.75 0.041 2786 -598.3 -116.8 - - 3514 - - - - - - - - 14.66 14.65 14.67
2279 208.3 -7.2 127 2286 roll -0.58 - - 2700 - 2.35 0.044 1382 -597.4 -116.8 - - 3511 - - - - - - - - 14.85 14.55 14.88
2341 212.9 -7.3 136 2349 done -0.58 - - 2691 - 2.47 0.068 2762 558.7 -116.8 - - 3510 - - - - - - - - 14.54 14.45 14.59
2671 237.6 -7.6 148 2674 done -0.58 - - 2691 - - - 2763 - -116.8 - - 3507 - - - - - - - - 14.85 14.85 14.85
3007 261.7 -7.1 154 3020 done -0.58 - - 2691 - - - 2761 - -116.8 - - 3504 - - - - - - - - 14.89 14.90 14.89
3343 286.1 -7.3 160 3356 done -0.58 - - 2691 - - - 2762 - -116.8 - - 3502 - - - - - - - - 14.92 14.92 14.92
3679 312.9 -8.1 166 3692 done -0.58 - - 2691 - - - 2762 - -116.8 - - 3500 - - - - - - - - 14.95 14.92 14.92
4015 340.7 -8.3 172 4028 done -0.58 - - 2691 - - - 2763 - -116.8 - - 3497 - - - - - - - - 14.92 14.92 14.92
4351 366.0 -7.4 178 4364 roll -0.58 - - 2691 - 2.38 0.046 1381 -580.7 -116.8 - - 3496 - - - - - - - - 14.93 14.61 14.93
4432 371.4 -6.8 189 4445 done -0.58 0.10 0.237 2711 200.0 2.45 0.072 2769 566.5 -116.8 - - 3494 - - - - - - - - 14.39 14.53 14.64
4754 390.6 -5.7 199 4767 done -0.67 - - 2710 - - - 2769 - -116.8 - - 3493 - - - - - - - - 14.95 14.92 14.92
5088 409.1 -5.5 205 5102 roll -0.76 0.10 0.118 2634 -760.0 2.38 0.044 1376 -585.3 -116.8 - - 3492 - - - - - - - - 14.65 14.55 14.69
5142 413.3 -8.3 212 5156 done -0.76 - - 2625 - 2.45 0.070 2760 564.9 -116.8 - - 3491 - - - - - - - - 14.67 14.50 14.70
5486 444.7 -9.3 219 5499 roll -0.76 - - 2616 - 1.98 0.112 3828 539.4 -116.8 - - 3490 - - - - - - - - 14.92 14.43 14.92
5588 455.0 -10.3 233 5601 done -0.68 0.20 0.213 2675 295.0 1.77 0.046 2761 -602.8 -116.8 - - 3486 - - - - - - - - 14.33 14.65 14.58
5943 483.1 -8.0 241 5956 roll -0.68 - - 2675 - 2.35 0.047 1372 -591.1 -116.8 - - 3487 - - - - - - - - 14.93 14.57 14.93
6004 488.7 -11.0 249 6017 done -0.68 - - 2663 - 2.47 0.070 2764 563.6 -116.8 - - 3487 - - - - - - - - 14.66 14.48 14.69
6344 518.8 -8.9 262 6358 roll -0.68 - - 2657 - 1.98 0.115 3825 535.9 -116.8 - - 3485 - - - - - - - - 14.91 14.40 14.91
6376 521.8 -9.1 266 6389 done -0.68 - - 2655 - 1.77 0.047 2759 -602.3 -116.8 - - 3485 - - - - - - - - 14.73 14.67 14.73
6745 555.3 -9.2 276 6758 roll -0.68 - - 2652 - 2.03 0.114 3830 527.6 -116.8 - - 3484 - - - - - - - - 14.91 14.40 14.91
6798 560.4 -9.7 283 6813 done -0.68 0.10 0.227 2679 270.0 1.80 0.047 2765 -591.7 -116.8 - - 3482 - - - - - - - - 14.35 14.64 14.57
7142 586.7 -7.4 290 7155 roll -0.68 - - 2678 - 2.38 0.047 1365 -588.2 -116.8 - - 3482 - - - - - - - - 14.92 14.58 14.92
7223 592.2 -6.9 301 7236 done -0.68 - - 2669 - 2.47 0.071 2766 567.2 -116.8 - - 3482 - - - - - - - - 14.65 14.46 14.67
7543 613.6 -6.7 311 7556 done -0.68 - - 2669 - - - 2766 - -116.8 - - 3477 - - - - - - - - 14.92 14.92 14.93
7879 638.7 -6.8 317 7892 done -0.68 - - 2669 - - - 2765 - -116.8 - - 3479 - - - - - - - - 14.92 14.92 14.91
8215 661.8 -6.9 323 8229 roll -0.68 - - 2669 - 2.42 0.049 1366 -578.1 -116.8 - - 3479 - - - - - - - - 14.92 14.53 14.92
8261 665.2 -7.1 329 8275 done -0.68 - - 2660 - 2.50 0.073 2761 558.0 -116.8 - - 3478 - - - - - - - - 14.63 14.45 14.66
8616 692.5 -7.8 337 8629 roll -0.68 - - 2660 - 2.40 0.047 1372 -578.8 -116.8 - - 3476 - - - - - - - - 14.90 14.57 14.90
8655 695.8 -8.8 342 8668 done -0.68 - - 2651 - 2.47 0.072 2760 561.9 -116.8 - - 3476 - - - - - - - - 14.64 14.45 14.67
9017 726.4 -8.6 351 9030 roll -0.68 - - 2643 - 2.00 0.115 3828 534.0 -116.8 - - 3475 - - - - - - - - 14.91 14.35 14.90
9056 730.0 -9.4 356 9069 done -0.68 0.12 0.219 2679 300.0 1.80 0.047 2755 -596.1 -116.8 - - 3475 - - - - - - - - 14.30 14.63 14.53
9418 755.8 -7.0 365 9431 roll -0.68 - - 2679 - 2.38 0.047 1364 -584.5 -116.8 - - 3473 - - - - - - - - 14.89 14.50 14.89
9471 759.8 -7.5 372 9485 done -0.68 - - 2671 - 2.50 0.073 2759 558.0 -116.8 - - 3473 - - - - - - - - 14.60 14.42 14.64
9815 783.3 -6.8 379 9828 roll -0.68 - - 2662 - 2.00 0.116 3823 532.0 -116.8 - - 3474 - - - - - - - - 14.90 14.33 14.88
9868 787.3 -7.5 386 9882 done -0.68 - - 2662 - 1.83 0.047 2753 -584.7 -116.8 - - 3472 - - - - - - - - 14.66 14.60 14.69
10212 811.7 -7.1 393 10226 roll -0.68 - - 2662 - 2.38 0.047 1361 -584.9 -116.8 - - 3471 - - - - - - - - 14.88 14.49 14.88
10258 815.8 -7.1 399 10272 done -0.68 - - 2655 - 2.50 0.072 2766 562.0 -116.8 - - 3471 - - - - - - - - 14.59 14.40 14.62
10614 843.8 -8.1 407 10627 roll -0.68 - - 2652 - 2.42 0.048 1366 -578.5 -116.8 - - 3471 - - - - - - - - 14.90 14.49 14.90
10667 848.0 -8.2 414 10681 done -0.68 0.12 0.233 2679 225.0 2.53 0.073 2764 552.6 -116.8 - - 3471 - - - - - - - - 14.24 14.40 14.50
11011 871.8 -6.9 421 11024 done -0.68 - - 2682 - - - 2763 - -116.8 - - 3470 - - - - - - - - 14.86 14.87 14.87
11347 894.2 -6.6 427 11361 roll -0.76 - - 2679 - 2.45 0.048 1366 -570.2 -116.8 - - 3469 - - - - - - - - 14.88 14.47 14.89
11429 899.7 -6.6 438 11442 done -0.85 0.08 0.153 2618 -762.5 2.50 0.073 2758 556.8 -116.8 - - 3469 - - - - - - - - 14.47 14.39 14.58
11749 926.3 -8.4 448 11762 roll -0.85 - - 2610 - 2.03 0.116 3830 528.1 -116.8 - - 3468 - - - - - - - - 14.90 14.27 14.90
11793 end dive: TARGET_DEPTH_EXCEEDED
11793 begin apogee
11800 930.5 -7.3 454 11928 roll -0.23 0.73 0.194 2819 286.3 - - 2233 - - 118.40 1.923 3051 -3.5 0.329 - - - - - - 14.24 14.02 13.24
11930 end apogee: CONTROL_FINISHED_OK
11930 begin climb
11932 934.2 - 456 12074 roll 0.90 1.10 0.103 3175 323.6 2.45 0.057 866 -558.0 116.8 124.38 1.963 2584 -3.8 0.345 - - - - - - 14.00 14.03 13.06
12086 928.0 9.3 481 12099 done 0.68 0.17 0.225 3124 -300.0 2.53 0.054 2262 551.8 116.8 - - 2574 - - - - - - - - 13.76 13.85 13.94
12421 902.5 7.7 493 12435 roll 0.60 0.08 0.267 3098 -325.0 2.60 0.100 3654 535.4 118.4 - - 2570 - - - - - - - - 14.12 14.20 14.26
12489 897.1 7.7 502 12502 done 0.51 0.15 0.232 3067 -206.7 2.40 0.041 2253 -583.8 119.3 - - 2570 - - - - - - - - 14.12 14.38 14.36
12823 878.8 5.3 514 12894 done 0.58 - - 3066 - - - 2251 - 172.4 61.62 1.906 2362 -3.4 0.300 - - - - - - 14.71 14.14 13.40
13215 855.1 6.3 521 13261 roll 0.61 - - 3066 - 2.67 0.104 3653 525.1 203.5 33.12 1.929 2235 -3.8 0.328 - - - - - - 14.63 14.15 13.50
13307 848.6 7.7 534 13321 done 0.62 - - 3076 - 2.45 0.042 2252 -571.8 205.4 - - 2229 - - - - - - - - 14.35 14.28 14.36
13669 821.9 7.6 543 13683 roll 0.62 - - 3086 - 2.45 0.064 856 -569.8 208.6 - - 2227 - - - - - - - - 14.71 14.36 14.69
13694 819.8 7.8 546 13708 done 0.62 - - 3086 - 2.45 0.057 2261 573.5 208.6 - - 2226 - - - - - - - - 14.52 14.38 14.54
14015 793.2 8.3 556 14028 roll 0.62 - - 3086 - 2.60 0.106 3656 536.5 208.6 - - 2225 - - - - - - - - 14.74 14.35 14.74
14081 786.9 9.5 565 14095 done 0.62 - - 3096 - 2.40 0.041 2249 -586.2 208.6 - - 2225 - - - - - - - - 14.59 14.51 14.60
14415 758.4 8.4 577 14429 roll 0.62 - - 3096 - 2.67 0.104 3658 527.7 208.6 - - 2225 - - - - - - - - 14.81 14.36 14.84
14447 755.4 8.9 581 14460 done 0.62 - - 3105 - 2.40 0.041 2248 -587.5 208.6 - - 2229 - - - - - - - - 14.62 14.54 14.64
14816 723.6 8.6 591 14829 roll 0.62 - - 3106 - 2.67 0.105 3655 527.0 208.6 - - 2224 - - - - - - - - 14.81 14.31 14.81
14848 720.6 9.1 595 14862 done 0.62 - - 3116 - 2.38 0.042 2261 -585.7 208.6 - - 2223 - - - - - - - - 14.63 14.54 14.64
15217 689.4 8.3 605 15230 roll 0.62 - - 3126 - 2.45 0.063 856 -573.5 208.6 - - 2223 - - - - - - - - 14.83 14.43 14.83
15249 686.6 8.1 609 15262 done 0.62 - - 3126 - 2.42 0.056 2258 579.3 208.6 - - 2223 - - - - - - - - 14.59 14.45 14.62
15618 655.7 8.4 619 15631 roll 0.62 - - 3126 - 2.60 0.106 3652 536.2 208.6 - - 2223 - - - - - - - - 14.83 14.35 14.83
15679 649.9 9.8 627 15693 done 0.62 0.12 0.232 3100 -216.7 2.38 0.043 2266 -582.4 208.6 - - 2223 - - - - - - - - 14.26 14.54 14.50
16022 623.7 7.7 640 16035 done 0.62 - - 3100 - - - 2261 - 209.2 - - 2223 - - - - - - - - 14.82 14.82 14.82
16356 595.1 8.6 646 16370 roll 0.62 - - 3100 - 2.60 0.103 3651 534.6 209.2 0.75 0.299 2214 -12.0 4.608 - - - - - - 14.85 14.38 14.25
16396 591.2 9.7 651 16410 done 0.62 - - 3109 - 2.38 0.043 2257 -585.7 209.2 - - 2220 - - - - - - - - 14.64 14.55 14.65
16758 558.8 8.9 660 16772 roll 0.62 - - 3120 - 2.45 0.063 855 -572.2 209.2 - - 2220 - - - - - - - - 14.83 14.42 14.88
16797 555.3 8.4 665 16810 done 0.62 - - 3120 - 2.45 0.057 2265 575.5 209.2 - - 2220 - - - - - - - - 14.60 14.44 14.63
17159 524.7 8.4 674 17172 roll 0.62 - - 3120 - 2.60 0.107 3657 535.4 209.2 - - 2217 - - - - - - - - 14.85 14.32 14.85
17241 517.0 9.4 685 17254 done 0.62 - - 3129 - 2.38 0.042 2265 -584.9 209.2 - - 2220 - - - - - - - - 14.63 14.53 14.64
17560 490.5 8.2 695 17573 roll 0.62 - - 3139 - 2.45 0.063 858 -574.3 209.2 - - 2220 - - - - - - - - 14.85 14.40 14.85
17606 486.6 8.0 701 17620 done 0.62 0.12 0.218 3104 -291.7 2.45 0.056 2270 576.3 209.2 - - 2223 - - - - - - - - 14.23 14.42 14.47
17961 460.4 7.4 709 17986 roll 0.63 - - 3104 - 2.58 0.105 3651 535.3 216.4 10.27 1.791 2185 -3.7 0.184 - - - - - - 14.83 14.54 13.87
18026 454.8 8.8 718 18039 done 0.63 - - 3112 - 2.35 0.041 2265 -589.8 216.4 - - 2182 - - - - - - - - 14.59 14.52 14.62
18360 427.1 8.3 730 18373 done 0.63 - - 3111 - - - 2260 - 216.4 - - 2183 - - - - - - - - 14.79 14.79 14.79
18696 401.1 7.6 736 18710 roll 0.63 - - 3115 - 2.60 0.103 3654 536.2 220.3 1.25 0.251 2171 -9.6 2.960 - - - - - - 14.82 14.36 14.21
18763 395.1 8.7 745 18777 done 0.63 - - 3122 - 2.35 0.041 2268 -589.8 220.3 - - 2178 - - - - - - - - 14.62 14.54 14.64
19097 368.3 8.1 757 19110 roll 0.63 - - 3132 - 2.45 0.063 865 -572.7 220.3 - - 2179 - - - - - - - - 14.82 14.40 14.82
19150 363.2 9.0 764 19164 done 0.63 - - 3131 - 2.47 0.056 2283 574.1 220.3 - - 2180 - - - - - - - - 14.57 14.42 14.59
19495 332.7 9.1 771 19507 done 0.63 - - 3132 - - - 2283 - 220.3 - - 2180 - - - - - - - - 14.84 14.84 14.85
19830 301.8 9.1 777 19843 done 0.63 - - 3131 - - - 2283 - 220.3 - - 2180 - - - - - - - - 14.83 14.83 14.83
20166 272.1 8.9 783 20180 roll 0.63 - - 3133 - 2.53 0.103 3655 542.3 220.3 1.27 0.248 2174 -4.7 1.000 - - - - - - 14.86 14.37 14.21
20199 268.4 10.8 787 20213 done 0.63 0.12 0.225 3106 -225.0 2.35 0.042 2262 -592.8 220.3 - - 2180 - - - - - - - - 14.26 14.55 14.50
20569 241.9 7.4 797 20594 roll 0.64 - - 3116 - 2.40 0.061 859 -584.6 227.1 12.05 1.483 2138 -3.5 0.110 - - - - - - 14.85 14.52 13.97
20612 238.6 7.3 803 20632 done 0.65 - - 3115 - 2.45 0.056 2282 580.8 235.9 3.45 1.183 2114 -7.0 0.271 - - - - - - 14.62 14.49 13.55
20963 210.9 7.9 811 20977 roll 0.65 - - 3115 - 2.60 0.103 3654 527.7 235.9 1.80 0.267 2114 - - - - - - - - 14.81 14.32 13.91
21017 206.3 8.7 818 21031 done 0.65 - - 3124 - 2.35 0.040 2272 -588.1 235.9 1.73 0.256 2111 -1.7 0.270 - - - - - - 14.62 14.54 14.04
21361 178.6 8.2 825 21378 roll 0.65 - - 3134 - 2.50 0.060 865 -562.8 235.9 1.83 0.275 2114 1.6 -0.205 - - - - - - 14.81 14.45 13.85
21397 175.5 8.5 830 21410 done 0.65 - - 3134 - 2.45 0.054 2285 579.6 235.9 1.55 0.276 2109 -3.2 0.396 - - - - - - 14.59 14.45 14.00
21759 144.1 8.7 839 21773 roll 0.65 - - 3143 - 2.55 0.060 857 -560.0 235.9 1.83 0.277 2115 3.3 -0.329 - - - - - - 14.82 14.47 13.83
21806 140.0 8.6 845 21820 done 0.65 0.10 0.216 3113 -300.0 2.45 0.054 2281 581.2 235.9 1.73 0.272 2110 -2.9 0.287 - - - - - - 14.32 14.42 13.89
22150 114.3 7.4 852 22168 roll 0.66 - - 3112 - 2.58 0.103 3654 532.2 243.2 5.60 0.465 2083 -4.8 0.229 - - - - - - 14.83 14.49 14.09
22186 111.6 7.2 857 22205 done 0.68 - - 3121 - 2.33 0.041 2264 -596.6 254.1 7.00 0.480 2041 -6.0 0.269 - - - - - - 14.67 14.60 14.12
22520 88.9 7.0 868 22543 roll 0.70 - - 3121 - 2.58 0.103 3657 539.9 270.8 9.85 0.425 1974 -6.8 0.275 - - - - - - 14.81 14.47 14.15
22634 79.8 6.1 884 22667 done 0.74 - - 3128 - 2.33 0.041 2269 -595.7 305.6 19.05 0.412 1833 -7.4 0.277 - - - - - - 14.63 14.55 14.17
22970 61.0 4.8 899 23015 roll 0.96 0.15 0.087 3229 673.3 2.45 0.062 873 -569.8 369.8 32.62 0.360 1576 -7.9 0.258 - - - - - - 14.53 14.50 14.21
23245 44.0 5.2 938 23284 done 1.10 - - 3229 - 2.45 0.054 2300 582.4 424.1 26.88 0.309 1360 -8.0 0.221 - - - - - - 14.56 14.42 14.21
23607 22.1 5.7 956 23639 done 1.29 0.15 0.089 3325 640.0 - - 2300 - 468.1 21.35 0.236 1185 -8.2 0.148 - - - - - - 14.52 14.50 14.24
23855 end climb: SURFACE_DEPTH_REACHED
23855 begin surface coast
23884 end surface coast: CONTROL_FINISHED_OK
23884 begin surface
SM -3.37 - - - - -8.38 9.25 0.080 186 20.1 0.82 0.076 2772 -9622.0 500.14 15.23 0.161 1056 69.3 0.148 - - - - - -